KR101829118B1 - Vehicle controller - Google Patents

Abstract

The vehicle of the first mode travels by consuming power of the battery. The vehicle of the second mode travels so as to maintain the electric storage capacity of the battery. The travel planning unit creates a travel plan for assigning either the first mode or the second mode to each section included in the travel route. The control unit sets the traveling mode of the subject vehicle to the first mode when the subject vehicle is out of the traveling path in which the traveling plan is created.

Description

[0001] VEHICLE CONTROLLER [0002]

The present disclosure relates to a vehicle control apparatus for controlling the running of a vehicle based on a plurality of running modes planned for the vehicle. A vehicle uses an internal combustion engine and a motor as a drive source.

BACKGROUND ART Conventionally, a plug-in hybrid vehicle or the like has been widely known as a vehicle that uses an internal combustion engine and a motor as driving sources. Such a vehicle is provided with a first mode as a CD (Charge Depletion) mode for consuming battery power and a second mode as a CS (Charge Sustaining) mode for maintaining a battery capacity as a mode for driving the vehicle . For example, in the CD mode, priority is given to EV driving in which the internal combustion engine is stopped and only the motor is driven, and the use of the internal combustion engine is suppressed or prohibited. In the CS mode, HV driving using the internal combustion engine and the motor is given priority so as to maintain the electric storage capacity of the battery.

Recently, as shown in, for example, Japanese Patent Application Laid-Open No. 2009-12605, a traveling route from a departure place to a destination is calculated, and a first mode and a second mode are set for a plurality of sections included in the calculated traveling route. And a vehicle control device for controlling the running of the vehicle by planning to allocate either one of the second modes as a mode for running the vehicle.

In the apparatus disclosed in Japanese Patent Application Laid-Open No. 2009-12605, first, the second mode is applied to a mode in which the average vehicle speed is the fastest among a plurality of intervals included in the traveling route, and the mode , And calculates a predicted value of the remaining amount of the battery of the vehicle when the vehicle travels from the current place to the destination in the applied mode. When the calculated predicted value is smaller than the lower limit value corresponding to the state of battery depletion, after changing the mode of the section in which the average vehicle speed is the second fastest from the first mode to the second mode, The predicted value of the remaining amount of the battery is calculated again. Thereafter, until the predicted value of the remaining amount of the battery of the vehicle at the destination reaches the vicinity of the lower limit value, the mode of the corresponding section is sequentially changed from the first mode to the second mode do. Then, when the predicted value of the remaining amount of the battery of the vehicle at the destination reaches the vicinity of the lower limit value, the mode applied at that time is planned as the mode of the vehicle concerned.

In the apparatus disclosed in Japanese Patent Laid-Open Publication No. 2009-12605, in a traveling route suitable for EV traveling on a traveling route from a departure place to a destination, a battery is actively consumed by using a motor, The mode allocation is planned so as to reach the vicinity of the lower limit value and further to mitigate the influence of exhaust and the like caused by the use of the internal combustion engine. However, such an effect can be expected only when the vehicle is driven by the mode-planned driving route, and if the vehicle deviates from the traveling route, Can not be obtained.

It is an object of the present invention to provide a vehicle control apparatus capable of promoting the consumption of a battery even when the vehicle is deviated from the travel route planned for travel.

The vehicle control device provided by one aspect of the present disclosure is a vehicle control device that performs a running control of a vehicle, wherein the vehicle selects either the first mode or the second mode as a running mode, Mode vehicle travels by consuming electric power of the battery, the vehicle of the second mode travels so as to maintain a storage capacity of the battery, the travel route from the start point to the destination includes a plurality of sections, A traveling plan unit configured to create a traveling plan for assigning any one of the first mode and the second mode to each section included in the traveling route; When the vehicle is out of the traveling route in which the traveling plan is created, the control unit is configured to control the vehicle And the traveling mode is set to the first mode.

As described above, the travel plan is originally planned to allocate modes so that the electric storage amount of the battery is used. In this regard, according to the above configuration, even if the subject vehicle deviates from the travel route planned for travel in this manner, traveling of the subject vehicle is forcibly controlled by running in the first mode, and consumption of the battery is accelerated. Thus, it is possible to avoid a situation in which a part of the battery used for the storage capacity due to the departure from the planned traveling path of the vehicle is generated.

When the vehicle is returned to the traveling route after the vehicle has departed from the traveling route in which the traveling schedule has been created, the control unit causes the control unit to execute a predetermined time , Or a predetermined distance, in the first mode.

According to the above arrangement, regardless of which mode is planned in the section of the traveling route when the subject vehicle departs from the traveling route in which the traveling schedule is created and travels in the first mode, and thereafter the child vehicle returns to the planned traveling route, Or even if there is a case where the vehicle is immediately returned from the traveling route, the traveling in the first mode continues until the predetermined time elapses or the vehicle travels a predetermined distance. This suppresses the possibility of so-called control hunting, in which the switching between the first mode and the second mode is repeated frequently, irrespective of the content of the travel plan of the travel route at the time of return or the departure from the travel route of repetition.

When the vehicle is returned to the traveling route after the vehicle has departed from the traveling route in which the traveling schedule has been created, the control unit causes the returning of the vehicle, regardless of the created traveling schedule, The driving mode of the subject vehicle is maintained in the first mode with respect to the first section of the following traveling path.

According to the above arrangement, even if the subject vehicle travels in the first mode after departing from the traveling route in which the traveling plan is created, and thereafter the second mode is planned in the section of the traveling route when the subject vehicle returns to the planned traveling route , The running of the section continues in the first mode. This avoids control hunting due to mode switching in the case where the section in which the subject vehicle is returned to the traveling path is the second mode and the rest of the section is short and the next section is planned in the first mode .

Wherein when the vehicle is returned to the traveling route after the vehicle has departed from the traveling route in which the traveling schedule is created, the first section of the traveling route after the return is transmitted to the second mode And when the distance to the section planned for the first time after the first section of the travel route after the return is less than a predetermined distance, the control section determines at least the first time after the first section of the travel route after the return And maintains the running mode of the subject vehicle in the first mode up to the period planned in the first mode.

According to the above arrangement, even if the subject vehicle travels in the first mode after departing from the traveling route in which the traveling plan is created, and thereafter the second mode is planned in the section of the traveling route when the subject vehicle returns to the planned traveling route , And when the distance to the section planned in the first mode existing after the section is less than a certain distance, the traveling of the vehicle in the first mode is continued. This avoids control hunting due to mode switching when the distance to the planned section in the first mode existing after the section in which the vehicle is returned to the traveling path is less than a certain distance.

The traveling plan unit is configured to recalculate the traveling route and re-create a new traveling plan when the vehicle has departed from the traveling route on which the traveling plan has been created for a predetermined time, When the vehicle is out of the traveling path and the traveling path is recalculated, the control unit sets the mode in which the vehicle travels for a predetermined time or a predetermined distance to the first mode regardless of the re- .

According to the above configuration, the subject vehicle travels in the first mode after departing from the traveling route in which the traveling plan is created in advance, and after that, the traveling route is recalculated after the lapse of a predetermined time, Even if the subject vehicle deviates from any of the redesigned travel routes, the travel in the first mode continues until a predetermined time elapses or a predetermined distance travels. This suppresses the possibility of so-called control hunting, in which switching between the first mode and the second mode is repeated frequently irrespective of the content of the travel plan of the redesigned travel route, or the departure from the travel route of the repeat.

The traveling plan unit is configured to recalculate the traveling route and re-create a new traveling plan when the vehicle has departed from the traveling route on which the traveling plan has been created for a predetermined time, When the vehicle is out of the traveling path and the traveling path is recalculated, the control unit sets the traveling mode of the vehicle to the first interval of the first traveling path after the recalculation, regardless of the rewritten traveling plan, Mode.

According to the above arrangement, the subject vehicle travels in the first mode after departing from the traveling route in which the traveling plan is created in advance. After that, the traveling route is recalculated after the lapse of a predetermined time, Even if the second mode is planned in the first mode, the running in the first mode continues in the first mode. This avoids control hunting due to mode switching when the first section of the recalculated travel path is the second mode and the remainder of the section is small and the next section is planned for the first mode .

The traveling plan unit is configured to recalculate the traveling route and re-create a new traveling plan when the vehicle has departed from the traveling route on which the traveling plan has been created for a predetermined time, The first section of the travel route after the recalculation is the section planned in the second mode when the vehicle is out of the travel route and the travel route is re-calculated, and the first time after the first section of the travel route after the re- 1 mode is less than a predetermined distance, the control unit sets the traveling mode of the subject vehicle to the first mode for the first time after the first interval of the traveling path after the re-calculation, Mode.

According to the above arrangement, the subject vehicle travels in the first mode after departing from the traveling route in which the traveling plan is created in advance. After that, the traveling route is recalculated after the lapse of a predetermined time, The traveling of the subject vehicle in the first mode is continued when the distance to the section planned in the first mode after the section is less than a certain distance. This avoids control hunting due to mode switching when the distance to the planned section in the first mode after the section including the first section of the rescheduled travel plan is less than a certain distance.

The control unit is configured to maintain the mode in which the subject vehicle travels in the first mode when the path of the subject vehicle deviates or the recalculation is repeatedly performed a predetermined number of times or more, Further, the travel plan unit is configured to stop creating the travel plan.

According to the above configuration, even when the preparation of the travel plan is stopped, the first mode is used first, and therefore, the situation in which the remaining portion used for the storage amount of the battery is generated is also easily avoided.

A vehicle control device provided by another aspect of the present disclosure is a vehicle control device that performs a traveling control of a vehicle, wherein the vehicle selects either the first mode or the second mode as a traveling mode, 1 mode, the vehicle of the first mode travels while suppressing or inhibiting the driving of the internal combustion engine while giving priority to driving of the motor, and the vehicle of the second mode drives at least one of the internal combustion engine and the motor to travel, The vehicle control apparatus according to any one of claims 1 to 3, wherein the travel route includes a plurality of sections, and the vehicle control apparatus further includes a travel plan for creating a travel plan for assigning any one of the first mode and the second mode as a travel mode to each section included in the travel route And a control unit for controlling the running of the subject vehicle on the basis of the created running plan, When a character out of the vehicle from the travel path, is adapted to the running mode of the vehicle chair forced into the first mode.

As described above, the travel plan is originally planned to allocate modes so that the electric storage amount of the battery is used. In this regard, according to the above configuration, even if the subject vehicle deviates from the travel route planned to travel in this manner, traveling of the subject vehicle is forcibly controlled by running in the first mode, and consumption of the battery is promoted. Thus, it is possible to avoid a situation in which a part of the battery used for the storage capacity due to the departure from the planned traveling path of the vehicle is generated.

Other features and advantages of the present disclosure will become apparent from the following detailed description and the accompanying drawings which are provided to illustrate aspects of the present disclosure.

The novel features of the disclosure are particularly apparent in the appended claims. The present disclosure accompanied by objects and advantages will be understood by reference to the following description of the preferred embodiments at the present time in conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing a schematic configuration of a vehicle control apparatus according to a first embodiment; Fig.
Fig. 2 is a flowchart showing control processing of a mode by the vehicle control device of the first embodiment; Fig.
3 is a diagram showing an example of control of a mode in a traveling route in which a traveling schedule is generated by the vehicle control device of the first embodiment and a route deviating from the traveling route.
4 is a diagram showing an example of a state in which no route information is present in a traveling route;
5 is a diagram showing another example of a state in which no route information is present in a traveling route;
6 is a flowchart showing a control procedure for a mode in the second embodiment of the vehicle control device.
7 is a view showing an example of control of a mode in a traveling route in which a traveling schedule is created by the vehicle control device of the second embodiment and a route deviating from the traveling route.
8 is a view showing an example of control of a mode in a traveling route in which a traveling schedule is generated by the vehicle control apparatus of the second embodiment and a route deviating from the traveling route.
Fig. 9 is a diagram showing a control example of a traveling route in which a traveling schedule is created by the vehicle control device of the second embodiment, a route deviating from the traveling route, and a mode in the recalculated traveling route. Fig.
10 is a flowchart showing a control procedure for a mode in the vehicle control apparatus according to the third embodiment of the present invention.
11 is a view showing an example of control of a traveling route on which a traveling schedule is generated by the vehicle control device of the third embodiment and a mode in a route deviated from the traveling route.
12 is a view showing an example of control of a traveling route in which a traveling schedule is created by the vehicle control device of the third embodiment, a route deviating from the traveling route, and a mode in the recalculated traveling route.
13 is a flowchart showing a control procedure of a mode in the vehicle control apparatus according to the fourth embodiment of the present invention.
14 is a view showing an example of control of a mode in a traveling route in which a traveling schedule is generated by the vehicle control device of the fourth embodiment and a route deviating from the traveling route.
Fig. 15 is a view showing an example of control of a traveling route in which a travel plan is created by the vehicle control device of the fourth embodiment, a route deviated from the traveling route, and a mode in the recalculated traveling route. Fig.
FIG. 16 is a flowchart showing an example of modifying the processing of part of FIG. 6 with respect to a modification of the second embodiment;
FIG. 17 is a flowchart showing the processing procedure for exception processing in each of the above-described embodiments; FIG.
18 is a flowchart showing a modification example of exception processing shown in Fig.

(First Embodiment)

Hereinafter, a vehicle control apparatus according to a first embodiment of the present invention will be described with reference to Figs. The vehicle control apparatus of the present embodiment is an apparatus that is mounted on a vehicle 100 such as a plug-in hybrid vehicle that uses the internal combustion engine 131 and the electric motor 140 as a drive source to control the mode for driving the vehicle .

First, the configuration of the vehicle control apparatus of the present embodiment will be described.

The vehicle 100 has two modes for running. One mode is the CD (Charge Depletion) mode as the first mode for consuming the battery 113. Another mode is a CS (Charge Sustaining) mode as a second mode for maintaining the electric storage capacity of the battery 113. For example, in the CD mode, the internal combustion engine 131 is stopped and EV running, which uses only the electric motor 140, is preferentially performed, and the battery 113 is consumed. In the CS mode, HV running, which is the running using the internal combustion engine 131 and the electric motor 140, is preferentially performed, and the electric storage amount of the battery 113 is maintained. Further, the navigation system 120 of the vehicle 100 establishes the traveling route from the departure point of the vehicle 100 to the destination, as the destination is set. Then, the travel support unit 150 of the hybrid control unit 110 creates a travel plan by assigning either the CD mode or the CS mode to each section of the set travel route. Here, the travel plan does not include the setting of the traveling route, but refers only to the mode assignment to the set traveling route. Normally, the travel plan has the effect of improving the exhaust performance with respect to traveling without depending on the travel plan, although the effect is small. Such an effect is larger as the distance over which the vehicle 100 travels in EV is longer.

As shown in Fig. 1, a vehicle 100 to which a vehicle control apparatus is applied includes a position detection section 101 and the like as elements for acquiring information on the state of the vehicle 100 in question. These elements include, for example, an internal combustion engine control device 130, a hybrid control device 110, a navigation control device 121, a display control device 124 And the like. The internal combustion engine control device 130 controls the driving of the internal combustion engine 131 and the hybrid control device 110 controls the driving of the electric motor 140. [ The various control devices include a so-called ECU (Electronic Control Unit) and a small computer having an arithmetic unit and a storage unit. The various control apparatuses can perform various kinds of control by processing the programs and parameters stored in the storage unit by the operation unit.

The position detection unit 101 detects the current position of the vehicle 100. [ The position detection unit 101 includes, for example, a GPS (Global Positioning System). The GPS receives the GPS satellite signal and specifies the current position of the vehicle 100 based on the received GPS satellite signal. Then, the position detection unit 101 outputs information indicating a specific current position, for example, information on latitude and longitude. The position detection unit 101 may be configured to detect the current position of the vehicle 100 using, in place of or in addition to the GPS satellite signal, another satellite signal, a road-to-vehicle communication apparatus, or the like.

The vehicle 100 is also provided with a navigation system 120 for guiding the traveling path of the vehicle 100. The navigation system 120 includes a map information database 122 in which map information is registered and a navigation control unit 122 that executes guidance processing of the traveling route of the vehicle 100 using the map information registered in the map information database 122. [ (121).

The map information registered in the map information database 122 includes node information which is information on a node indicating a position on the road and link information which is information on a link connecting two adjacent nodes. The node information includes positional information of the node and road information at the position of the node. The link information includes road information on the link. The road information included in the link information includes information indicating a running load when the vehicle 100 runs a link. In this case, the running load is defined on the basis of the moving time, the moving speed, the amount of fuel consumed and the amount of power consumed. Such a running load may be calculated from information such as road gradient information and the like, such as the weight of the vehicle 100, and the like.

The navigation control device 121 acquires information indicating the current position of the vehicle 100 from the position detection section 101. [ Further, when the destination is set by the driver or the like, the navigation control device 121 searches for the traveling route from the departure point to the destination of the vehicle 100 by using the extrapolation method or the like while referring to the map information database 122. [ Also, the starting point of the vehicle 100 is generally equivalent to the current position of the vehicle 100, but the starting point may be determined separately from the current position. Further, the navigation control device 121 outputs all the link information included in the searched traveling route to the hybrid control device 110 via the in-vehicle network NW together with the information of the traveling load included in the traveling information.

The vehicle 100 also includes a battery 113 as a power source for the electric motor 140 and a battery actuator 112 for controlling the charging and discharging of the battery 113. [ The battery 113 is chargeable from a power source outside the vehicle connected to an inlet (not shown) through the battery actuator 112. [ The battery actuator 112 is connected to various control devices such as an internal combustion engine control device 130, a hybrid control device 110, and a navigation control device 121 through a vehicle-mounted network NW.

The hybrid control device 110 has a function of determining the distribution (output ratio) of the driving force of the internal combustion engine 131 and the electric motor 140 each time. The hybrid control device 110 also has a function of supporting the driving based on the traveling route and a function of running the vehicle 100 in the traveling mode in which the section is allocated during the traveling.

More specifically, the hybrid control device 110 determines the distribution of the driving force based on detection results of an acceleration sensor, a vehicle speed sensor, and an accelerator sensor (not shown). The hybrid control device 110 is configured to control the battery actuator 112 based on the distribution of the driving force and to control the battery actuator 112 related to the discharge of the battery 113 or the like to the internal combustion engine control device 130 calculated by the internal combustion engine control device 130 And generates information on the control amount. The hybrid control device 110 also determines the distribution of the braking force of the brake and electric motor 140 based on the detection results of the acceleration sensor, the vehicle speed sensor and the brake sensor. The hybrid control device 110 generates information on the control command of the battery actuator 112 relating to the charging of the battery 113 and the control amount of the brake to be calculated in the internal combustion engine control device 130 on the basis of the distribution of the braking force do. That is, the hybrid control device 110 controls the charge / discharge of the battery 113 by outputting the generated control command to the battery actuator 112. [ As a result, the electric motor 140 that uses the battery 113 as a power source is driven by the discharge of the battery 113, or the battery 113 is charged by the regeneration of the electric motor 140.

The hybrid control device 110 is also connected to the driving support unit 150 for outputting the driving support information of the vehicle 100 to the input traveling route when the driving route of the vehicle 100 is input from the navigation control device 121 . The travel support unit 150 includes a mode planning unit 151 as a travel plan unit for planning a travel plan in which one of the CD mode and the CS mode is assigned to a plurality of links included in the traveling route inputted from the navigation control device 121, . The units to which the CD mode and the CS mode are assigned may be other than a link as long as the unit can divide the traveling path so that the traveling load can be made to correspond to the traveling path.

For example, as shown in Fig. 3, in the travel plan, consecutive links to which the same mode is assigned are conveniently shown as one section. Therefore, in the travel plan example shown in Fig. 3, the travel route from the start point S to the destination point G is composed of three sections. Further, in the travel plan shown in Fig. 3, the section in which the CD mode is assigned is indicated as " CD section ", and the section in which the CS mode is assigned is indicated as " CS section ".

The CD mode is a mode in which the electric power charged in the battery 113 is actively consumed without maintaining the electric storage capacity of the battery 113. The CD mode is a mode in which the electric motor 140 is driven, The driving by the driver 140 is prioritized. Even in the CD mode, when the accelerator pedal is greatly depressed and large driving power is required, the internal combustion engine 131 is driven to consume fuel.

The CS mode is a mode for maintaining the electric storage capacity of the battery 113 at a predetermined range with respect to the reference value and drives the internal combustion engine 131 as necessary to maintain the electric storage capacity of the battery 113, 140 is regeneratively driven. Even in the CS mode, when the electric storage amount of the battery 113 exceeds the reference value, the electric motor 140 is driven and the driving of the internal combustion engine 131 is stopped. In this case, the reference value of the CS mode includes a value of the storage amount of the battery 113 when the mode is changed from the CD mode to the CS mode, or a value of the storage amount of the battery 113 which is necessary for maintaining the performance of the battery 113 The value is set appropriately. That is, the CS mode is a mode in which fuel is used in combination to hold the battery charge amount of the battery 113, and the CD mode is a mode that gives priority to the consumption of the battery charge amount of the battery 113 rather than fuel.

In either mode, by the distribution (output ratio) of the driving force of the internal combustion engine 131 and the electric motor 140 at each time determined by the hybrid control device 110 in order to cope with a running load that fluctuates momentarily, At least one of the engine 131 and the electric motor 140 may be driven as needed.

The travel support unit 150 includes a mode control unit 152 that controls a mode in which the vehicle 100 travels based on a travel plan created by assigning either a CD mode or a CS mode to a plurality of links included in a travel route do. The mode control unit 152 forcibly sets the mode in which the vehicle 100 travels when the vehicle 100 is out of the traveling path in which the traveling plan is created. When the vehicle is returned to the traveling route after the vehicle 100 has departed from the traveling route in which the traveling schedule is created, the mode control unit 152 determines that the vehicle 100 travels in accordance with the mode of the traveling plan created Mode. When the navigation system 120 recalculates the traveling route after the vehicle 100 has departed from the traveling route in which the traveling schedule has been created, the mode control unit 152 determines that the travel schedule created for the recalculated traveling route And controls the mode in which the vehicle 100 travels according to the mode.

The driving support unit 150 further includes a mode display unit 153 for outputting the driving plan planned by the mode planning unit 151 as driving support information to the HMI (Human Machine Interfaces) 123 via the vehicle-mounted network NW Respectively. The mode display unit 153 outputs information for displaying an image on the HMI 123. Alternatively or in lieu of this, the audio information may be output.

The HMI 123 includes a display device 125 capable of displaying characters and images, and the display control device 124 for performing the display control. The display device 125 is composed of, for example, a monitor, a head-up display, and a meter panel. The HMI 123 may share a monitor of the navigation system 120 or the like. Further, the HMI 123 may output voice information input from the travel support unit 150 through a speaker.

Next, the operation of the vehicle control apparatus of the present embodiment, which is executed mainly by the travel support unit 150, will be described.

When the destination is set in the navigation system 120 and the travel route to the destination is calculated, the travel support unit 150 inputs information on the travel route from the departure location to the destination from the navigation control device 121. [

As the travel route is acquired in the travel support unit 150, the mode planning unit 151 creates a travel plan by assigning the CD mode or the CS mode to each link of the acquired travel route. The mode planner 151 plans the travel plan so as to improve the exhaust performance in the travel route or to increase the EV travel distance and to suit the purpose. In general, when the CD mode is allocated and the EV drive is preferentially performed, the fuel consumption is suppressed and the exhaust performance is improved. However, the distance to which the CD mode can be allocated is limited by the storage amount of the battery 113. [ As a result, the CD mode is allocated to the travel route as much as possible by executing the travel plan, and the CS mode is allocated to the period in which the CD mode can not be allocated. Specifically, the mode planner 151 assigns the CD mode to the section in which the running load is relatively low and the CS mode to the section in which the running load is relatively high, for each section of the running path. Here, since the running load of each section is determined by the relative relationship between the running distance and the running distance of the running road in the running path, the running load of each section is also determined by comparing with the running load of all other sections included in the running path . Further, in the travel plan, a section in which the average vehicle speed is low or a section in the city area may be a section in which the running load is low, and a section in which the average vehicle speed is high, a highway or the like may be a section in which the running load is high. Further, if the exhaust performance is improved or the EV traveling distance is extended, a traveling plan may be prepared based on other known conditions.

3, when the vehicle 100 starts running, the mode control unit 152 determines whether or not the vehicle 100 is running on the traveling route on which the traveling plan is created, And performs a process of controlling the mode based on the determination result. The mode control unit 152 controls the mode of the vehicle 100 according to the travel plan when the vehicle 100 is traveling on the traveling route (double solid line portion) on which the traveling plan is created. That is, the mode control unit 152 controls the section between the source S and the point A in the CD mode, controls the section between the point A and the point B in the CS mode, and controls the section between the point B and the destination G in the CD mode.

Here, the control procedure by the mode control unit 152 will be described in detail based on Fig.

When the process shown in Fig. 2 is started, the mode control unit 152 determines whether or not the vehicle 100 is located on the traveling route (step S1). That is, the mode control unit 152 grasps the current position of the vehicle 100 based on, for example, positional information acquired from the position detection unit 101, and displays the current position of the vehicle 100 on the travel route Is located.

When the mode control unit 152 determines that the vehicle 100 is traveling on the traveling planned route (double solid line portion in Fig. 3) (step S1 in Fig. 2: Yes), the mode control unit 152 selects the mode (Step S11). That is, the mode control unit 152 controls the mode of the vehicle 100 according to the planned travel plan so as to improve the exhaust performance with respect to the traveling route. Subsequently, the mode control unit 152 determines whether the current position of the vehicle 100 is the destination G (step S12). That is, the mode control unit 152 determines whether or not the vehicle 100 has reached the destination G, and when the vehicle 100 has reached the destination G, the process ends. As a result, when the mode control unit 152 determines that the current position of the vehicle 100 is not the destination G (step S12: No), the mode control unit 152 proceeds to step S1 and continues the processing. When the current position of the vehicle 100 is the destination G (step S12: YES), the mode control unit 152 ends the mode control process.

On the other hand, when the mode control unit 152 determines that the vehicle 100 is not traveling on the traveling planned route, that is, the traveling route is out of the traveling route (step S1: Is set to the CD mode (step S2 in Fig. 2). 3, and the point returning to the traveling route is also the point D shown in Fig. 3, the mode control section 152 determines that the point A is the point A shown in Fig. 3, Between the point C and the point D shown in Fig. 3 regardless of the CS mode, which is the planned mode in the section between the point A and the point B, in the CD mode. Therefore, on the route deviated from the traveling route (the double-dashed line portion in Fig. 3), consumption of the battery 113 is promoted by driving the vehicle 100 in the CD mode.

Subsequently, the mode control unit 152 determines whether the vehicle 100 has been returned to the travel planned travel route, or whether the navigation system 120 has recalculated the travel route, and when either one of these is satisfied (Step S3 in Fig. 2).

Here, as described above, the mode control section 152 determines that the vehicle 100 has returned to the planned travel route (step S3 in Fig. 2: "Yes"), , And the process proceeds to step S1. That is, when the mode control unit 152 returns to the traveling route in which the traveling plan is created at the point D shown in Fig. 3, the mode control unit 152 sets the CS mode planned at the point A and the point B including the point D shown in Fig. To control the mode in which the vehicle 100 travels.

On the other hand, when a certain period of time (for example, one minute) elapses from the traveling route, the navigation system 120 recalculates the traveling route, and the mode planning unit 151 notifies the traveling route Rewrite it. 3, the mode control unit 152 controls the mode in which the vehicle 100 travels based on the travel plan newly calculated from the point D, assuming that the travel route is recalculated at the point D shown in Fig.

As described above, according to the present embodiment, the following effects can be obtained.

(1) Even if the vehicle 100 deviates from the planned travel route, the travel of the vehicle 100 is forcibly controlled by traveling in the CD mode, and the consumption of the battery 113 is accelerated. This makes it possible to avoid a situation in which a part used for the storage capacity of the battery 113 due to the departure from the planned traveling path of the vehicle 100 is generated.

Such a control according to the first embodiment is also effective for a travel control at a place where there is no route information as shown in, for example, Figs. 4 and 5, that is, a place where the travel plan can not be created. In this regard, the place where the travel plan can not be created is a place where information such as running load, which is information necessary for creating the travel plan, is not obtained. Such a place is the map information database 122 of the navigation system 120 ) Is not usually registered as a road. In Figs. 4 and 5, for the sake of explanation, the roads that are likely to be traveling on the road as viewed from the vehicle 100 are hatched.

First, FIG. 4 shows a case where the vehicle 100 is located in a large parking lot P such as a large shopping center. The parking space and the passage in the parking lot P are not registered as roads in the map information database 122 of the navigation system 120. [ The route S between the departure point S of the vehicle 100 and the road R registered in the map information database 122 of the navigation system 120, that is, the road with the road information, corresponds to a route deviating from the traveling route described above.

In this case, the mode control unit 152 determines that there is no vehicle 100 on the travel route on which the travel plan is created during the period in which the vehicle 100 is located in the parking lot P such as a large shopping center (step S1: NO "), the mode in which the vehicle 100 travels is forcibly controlled in the CD mode. Then, thereafter, when the vehicle 100 reaches the road R with the road information, it is possible to create the travel plan thereafter.

5 shows a case where the vehicle 100 is located on a road in private land or on a narrow road. Roads on narrow streets or narrow roads are not registered as roads in the map information database 122 of the navigation system 120 in many cases. The road not registered is the road X without road information. The route S between the departure place S of the vehicle 100 and the road R registered in the map information database 122 of the navigation system 120, that is, the road information R, also corresponds to a route deviating from the traveling route.

Also in this case, the mode control unit 152 determines that there is no vehicle 100 on the traveling route on which the traveling plan is created for a period in which the vehicle 100 is located on the road in private or narrow-width roads, 100) is forced to be controlled in the CD mode. Thereafter, when the vehicle 100 reaches the road R on which the road information is present, it is the same as described above that it is possible to create the travel plan thereafter.

Similarly, when there is no map information such as a river side or a beach, but the vehicle 100 can be driven, the mode control unit 152 likewise determines that there is no vehicle 100 on the travel route on which the travel plan is created, 100) can be forcibly controlled in the CD mode.

(Second Embodiment)

Hereinafter, a second embodiment of the vehicle control device will be described with reference to Figs. 6 to 9. Fig. The vehicle control apparatus of this embodiment is a mode in which the vehicle 100 travels by a predetermined time when the vehicle is returned to the traveling route after the traveling plan is departed from the traveling route where the traveling plan is created, CD mode is different from that of the first embodiment. Hereinafter, differences from the first embodiment will be mainly described.

6, in this embodiment, the mode control unit 152 performs the same processing as the steps S1 to S3 of the first embodiment to determine whether the vehicle 100 is returned to the traveling route on which the vehicle 100 is planned to run, After determining that the system 120 has recalculated the traveling route, the elapsed time from that time is calculated (step S4).

Here, only when the vehicle 100 is out of the travel route, when the vehicle 100 is out of the travel route, and when the vehicle 100 is returned to the planned section (CS section) in the CS mode of the travel route, Mode, there is a possibility that control so-called switching, which is switched from the CD mode to the CS mode to the CD mode in a short time, may occur. Therefore, when the vehicle 100 is returned to the travel route after the vehicle 100 departs from the travel route planned for travel, the mode control unit 152 maintains the mode in which the vehicle 100 travels for a predetermined time period in the CD mode.

Further, when the vehicle 100 is departed from the planned travel route and the CS section of the recalculated travel route deviates from the travel route during traveling, if the vehicle 100 is controlled in the CD mode only when the vehicle 100 is out of the traveling route, There is a possibility that control hunting, which is switched from CD mode to CS mode to CD mode in a short time, may occur. Therefore, when the traveling path is recalculated after the vehicle 100 departs from the traveling route planned for travel, the mode control unit 152 maintains the mode in which the vehicle 100 travels for a predetermined time in the CD mode.

That is, as shown in Fig. 6, when the mode control unit 152 determines that the vehicle 100 has returned at the point D after leaving the point C shown in Fig. 7 of the planned travel route, 6, step S3: YES), the elapsed time from the point D shown in FIG. 7 is calculated (step S4). Subsequently, the mode control unit 152 determines whether or not the calculated elapsed time is longer than a predetermined time (step S5). As a result, when the mode control unit 152 determines that the elapsed time from the return from the point D to the point B shown in Fig. 7 is less than the predetermined time (step S5: "No"), And maintains the mode in which the vehicle 100 travels in the CD mode. That is, when the mode control unit 152 returns to the traveling path in which the traveling plan is created at the point D shown in Fig. 7, the mode control unit 152 forcibly controls the CD mode regardless of the planned CS mode at the point D and the point B. As a result, in the section from point C to point B shown in Fig. 7, all the modes in which the vehicle 100 travels are maintained in the CD mode.

On the other hand, when the mode control unit 152 determines that the calculated elapsed time after passing the point B shown in Fig. 7 is longer than the predetermined time (step S5: YES), the mode control unit 152 proceeds to step S1. Therefore, after departing from the traveling route, the traveling route is returned, and when the predetermined time has elapsed, the mode in which the vehicle 100 travels is controlled based on the traveling schedule. By this processing, the possibility of the above-described control hunting is appropriately suppressed.

8, when the vehicle 100 is traveling within the section between the point A and the point B, and when the vehicle 100 departs from the traveling path at the point C, the mode in which the vehicle 100 travels is controlled in the CD mode do. 9, the navigation system 120 recalculates the traveling route from the point E to the destination G when a predetermined time elapses after the vehicle 100 departs from the traveling route at the point E, The mode planner 151 creates a travel plan for the calculated travel route. Therefore, when the traveling route is re-calculated at the point E, the mode control unit 152 keeps the mode in which the vehicle 100 travels from the point E for a predetermined time in the CD mode.

When the navigation system 120 determines that the navigation system 120 has recalculated the traveling route at the point E shown in Fig. 9 (step S3: YES in Fig. 6), the mode control unit 152 determines The elapsed time from the point E is calculated (step S4). Subsequently, the mode control unit 152 determines whether or not the calculated elapsed time is longer than a predetermined time (step S5). As a result, when it is determined that the elapsed time from the recalculation is less than the predetermined time between the point E and the point F shown in Fig. 9 (step S5: NO), the mode control unit 152 determines The mode in which the vehicle 100 travels is maintained in the CD mode.

On the other hand, when it is determined that the calculated elapsed time is longer than the predetermined time at the point F shown in Fig. 9 (step S5: YES), the mode control unit 152 proceeds to step S1. That is, in this case, when the mode control unit 152 returns to the traveling route in which the traveling plan is created at the point F shown in Fig. 9, the mode control unit 152 returns to the CS mode in which the point D is re- . However, also in this case, the possibility of the above-described control hunting is appropriately suppressed in that the CD mode is maintained for the predetermined time until the mode is selected in accordance with the rescheduled travel plan.

In addition, by returning to the normal control for selecting the mode after a lapse of a predetermined time from the re-calculation of the return or travel route, the vehicle 100 is returned to the planned or re-planned travel route, Likewise, even if there is a case where the vehicle departs from the traveling route, the likelihood of occurrence of the above-described control hunting is suppressed.

As described above, according to the present embodiment, besides the effect (1) of the first embodiment, the following effects can be exhibited.

(2) Even if the vehicle 100 travels in the CD mode after departing from the traveling route in which the traveling schedule is created and thereafter any mode is planned in the section of the traveling route when the vehicle 100 is returned to the planned traveling route , Or even if there is a case where the vehicle is returned and immediately deviates from the traveling route, the traveling to the CD mode continues until a predetermined time elapses. This suppresses the possibility of occurrence of so-called control hunting, in which switching between the CD mode and the CS mode is repeated frequently, irrespective of the content of the travel plan of the travel route at the time of return, or the departure from the repeated travel route.

(3) The vehicle 100 travels in the CD mode after departing from the travel route in which the travel plan has already been prepared. After that, the travel route is recalculated after the lapse of a predetermined time to create a new travel plan. Even if there is a case where the vehicle 100 deviates from the redesigned traveling route, the traveling to the CD mode continues until a predetermined time elapses. This suppresses the possibility of so-called control hunting, in which switching between the CD mode and the CS mode is repeated frequently, irrespective of the content of the travel plan of the redesigned travel route, or the departure from the repeated travel route.

(Third Embodiment)

Hereinafter, a third embodiment of the vehicle control apparatus will be described with reference to Figs. 10 to 12. Fig. The vehicle control apparatus of this embodiment is configured such that when the vehicle is returned to the traveling path after the traveling plan is departed from the traveling path where the traveling plan is created, or when the traveling path is recalculated, The present embodiment is different from the first embodiment in that the mode is maintained in the CD mode. Hereinafter, differences from the first embodiment will be mainly described.

As shown in Fig. 10, in this embodiment, the mode control unit 152 performs the same processing as steps S1 to S3 of the first embodiment, and determines that the vehicle 100 is returned to the travel route planned to travel, After determining that the system 120 has recalculated the traveling route, the first section after the return or recalculation is set to the CD mode (step S6).

Here, when the vehicle 100 is controlled in the CD mode only when the vehicle 100 is out of the traveling path when the vehicle 100 is departing from the traveling path during the traveling of the planned traveling route and returning to the corresponding CS section, There is a possibility that so-called control hunting, which is switched from the CD mode to the CS mode in a short time, may occur. Therefore, when the vehicle 100 returns to the traveling route after the vehicle 100 departs from the traveling route planned for travel, the mode control section 152 sets the mode in which the vehicle 100 travels to the first section of the traveling route after returning to the CD mode .

When the vehicle 100 is out of the traveling path while the CS section of the planned traveling path is traveling and the first section of the recalculated traveling path is the CS section, only when the vehicle 100 is out of the traveling path, There is a possibility that control hunting, which is switched from the CS mode to the CD mode to the CS mode in a short time, may occur. Accordingly, when the traveling route is re-calculated after the vehicle 100 departs from the traveling route planned for travel, the mode control unit 152 sets the mode in which the vehicle 100 travels with respect to the first section of the traveling route after the re- Mode.

That is, as shown in Fig. 10, when the mode control unit 152 determines that the vehicle 100 has returned at the point D after leaving the point C shown in Fig. 11 of the travel planned route, 10), the mode in which the vehicle 100 travels with respect to the section between the point D and the point B, which is the first section after the return including the point D shown in Fig. 11, is maintained in the CD mode Step S6 in Fig. 10). As a result, in the section from the point C to the point B shown in Fig. 11 which departs from the traveling route, all the modes in which the vehicle 100 travels are maintained in the CD mode.

In this embodiment, after the vehicle 100 has departed from the traveling route, the vehicle returns to the traveling route and the first section is maintained in the CD mode. In addition, since the traveling mode of the vehicle 100 is controlled based on the travel plan from the next section, the above-described occurrence of the control hunting is also avoided.

12, when the vehicle 100 is traveling within the section between the point A and the point B, and the vehicle 100 departs from the traveling path at the point C, the mode in which the vehicle 100 travels is controlled in the CD mode do. Then, when a predetermined time elapses after the vehicle 100 departs from the driving route at the point E, the navigation system 120 recalculates the traveling route from the point E to the destination G, The control unit 151 prepares the travel plan. Therefore, when the traveling route is recalculated at the point E, the mode control unit 152 sets the mode in which the vehicle 100 travels to the period E between the point E and the point D, which is the first section after re- The mode in which the vehicle 100 travels is maintained in the CD mode.

When the navigation system 120 determines that the navigation system 120 has recalculated the traveling path at point E shown in Fig. 12 (step S3: YES), the mode control unit 152 sets the point E shown in Fig. 12 as And maintains the mode in which the vehicle 100 travels with respect to the section between the point E and the point D as the first section after the recalculation including the CD mode (step S6 in Fig. 10). As a result, in the section from the point C to the point D shown in Fig. 12 deviating from the traveling path, all the modes in which the vehicle 100 travels are maintained in the CD mode.

In this case, the mode control unit 152 also controls the running mode of the vehicle 100 from the next section of the re-planned running plan based on the re-calculated running plan. In this case as well, The occurrence of hunting is avoided.

As described above, according to the present embodiment, in addition to the effect (1) of the first embodiment, the following effects can be obtained.

(4) Even if the vehicle 100 travels in the CD mode after departing from the travel route in which the travel plan is created, and thereafter the CS mode is planned in the section of the travel route when the vehicle 100 returns to the planned travel route , The running of the section continues to travel to the CD mode. Therefore, the control hunting due to the mode switching in the case where the section where the vehicle 100 returns to the traveling path is the CS mode and the rest of the section is short and the next section is planned in the CD mode is avoided .

(5) The vehicle 100 travels in the CD mode after departing from the travel route in which the travel plan has been prepared in advance. After that, after the lapse of a predetermined time, the travel route is recalculated and a new travel plan is created again. Even if the CS mode is planned, the traveling in this section continues to travel to the CD mode. This avoids control hunting due to mode switching when the first section of the recalculated travel path is the CS mode and the remainder of the section is small and the next section is planned for the CD mode.

(Fourth Embodiment)

Hereinafter, a vehicle control apparatus according to a fourth embodiment of the present invention will be described with reference to Figs. The vehicle control apparatus of this embodiment is configured such that when the subject vehicle is returned to the traveling route after the traveling plan is departed from the traveling route in which the traveling schedule is created, or when the traveling route is recalculated, And the remaining distance to the next CD section is equal to or less than a predetermined distance, the mode in which the vehicle 100 travels until the next CD section is maintained in the CD mode differs from the first embodiment. Hereinafter, differences from the first embodiment will be mainly described.

As shown in Fig. 13, in this embodiment, the mode control unit 152 performs the same processing as steps S1 to S3 of the first embodiment, and determines that the vehicle 100 is returned to the travel route planned to travel, After determining that the system 120 has recalculated the traveling path, if the first section after the return or recalculation is the CS section (step S7: Yes), the remaining distance to the next CD section after the return or recalculation L (step S8).

Here, when the vehicle 100 moves out of the planned driving route, returns to the CS section of the traveling route, and the remaining distance to the next CD section is short, when the vehicle 100 is controlled in the CD mode only when the vehicle 100 is out of the traveling route , The CD mode, the CS mode, and the CD mode are switched in a short time, so-called control hunting may occur. Therefore, when the vehicle 100 is returned to the traveling route after departing from the traveling planned travel route, the mode control section 152 determines that the first section of the traveling route after the return is the CS section and the remaining distance L Is equal to or smaller than the predetermined distance W, the mode in which the vehicle 100 travels is maintained in the CD mode up to the next CD section.

Further, when the vehicle 100 is departed from the planned travel route, the first section of the recalculated travel route is the CS section, and the remaining distance L to the next CD section is short, the vehicle 100 is out of the travel route The control hunting in which the CD mode, the CS mode, and the CD mode are switched in a short time may occur. Therefore, when the traveling path is recalculated after the vehicle 100 departs from the traveling planned traveling route, the mode control section 152 determines that the first section of the traveling route after the recalculation is the CS section, and the remaining portion to the next CD section When the distance L is equal to or smaller than the predetermined distance W, the mode in which the vehicle 100 travels is maintained in the CD mode up to the next CD interval.

13, when the mode control unit 152 determines that the vehicle 100 has returned at the point D after leaving the point C shown in Fig. 14 of the travel planned route, (Step S7: "YES" in step S13 of FIG. 13), and when the section of the point D and the point B that is the first section after returning including the point D shown in FIG. 14 is the CS section "), And calculates the remaining distance L1 between the point B and the destination G, which is the next CD section of the CS section (step S8). Subsequently, the mode control unit 152 determines whether or not the calculated remaining distance L1 is equal to or less than a predetermined distance W (step S9). As a result, when the mode control unit 152 determines that the remaining distance L1 corresponding to the distance from the point D to the point B shown in Fig. 14 is equal to or smaller than the predetermined distance W (L1? W) (step S9: Yes) The mode in which the vehicle 100 travels from the returned point D to the next CD section B is set to the CD mode (step S10). As a result, in the section from the point C to the point B shown in Fig. 14, all the modes in which the vehicle 100 travels are maintained in the CD mode.

In this manner, in this embodiment, after the vehicle 100 departs from the traveling path, the vehicle returns to the traveling path and is kept in the CD mode until the point B, which is the next CD section. In addition, since the traveling mode of the vehicle 100 is controlled based on the travel plan from the next section, the above-described occurrence of the control hunting is also avoided.

On the other hand, when the mode controller 152 determines that the remaining distance L corresponding to the distance to the next CD section is longer than the predetermined distance W (L> W) (step S9: "No"), Mode to control the mode in which the vehicle 100 travels. In this case, even if the mode is selected in accordance with the travel plan of the returned travel route, the above-described control hunting is also avoided because the travel distance until the next change to the CD mode is longer than the predetermined distance W.

15, when the vehicle 100 is traveling within the section between the point A and the point B and deviates from the traveling path at the point C, the mode in which the vehicle 100 travels is controlled in the CD mode do. Then, when a predetermined time elapses after the vehicle 100 departs from the driving route at the point E, the navigation system 120 recalculates the traveling route from the point E to the destination G, The control unit 151 prepares the travel plan.

When the navigation system 120 determines that the navigation system 120 has recalculated the traveling path at point E shown in Fig. 15 (step S3: "YES" in Fig. 13) When it is judged that the section between the point E and the point D which is the first section after the recalculation including the point E is the CS section (step S7: YES in Fig. 13), the next CD section B and the destination G (Step S8). Subsequently, the mode control unit 152 determines whether or not the calculated remaining distance L2 is less than a predetermined distance (step S9). As a result, when the mode controller 152 determines that the remaining distance L2 corresponding to the distance from the point E to the point B shown in Fig. 15 is longer than the predetermined distance W (L2> W) (step S9: , And it is controlled in the CS mode in which it is re-planned in the section between the point E and the point B. Even in this case, even if the mode is selected in accordance with the rescheduled travel plan, the above-described control hunting is also avoided because the travel distance until the next change to the CD mode is longer than the predetermined distance W. [

On the other hand, when the mode controller 152 determines that the remaining distance L corresponding to the distance to the next CD section is not more than a predetermined distance W (L? W) (step S9: Yes) Regardless of the planned CS mode, the mode in which the vehicle 100 travels is maintained in the CD mode.

As described above, according to the present embodiment, in addition to the effect (1) of the first embodiment, the following effects can be obtained.

(6) Even if the vehicle 100 travels in the CD mode after departing from the traveling route in which the traveling schedule is created, and thereafter the CS mode is planned in the section of the traveling route when the vehicle 100 returns to the planned traveling route , And when the distance to the CD section existing after the section is less than a certain distance, the vehicle 100 continues to drive in the CD mode. This avoids control hunting due to mode switching in the case where the distance to the planned section in the CD mode existing after the section where the vehicle returns to the traveling path is less than a predetermined distance.

(7) The vehicle 100 travels in the CD mode after departing from the traveling route in which the traveling schedule is created in advance. After that, after the lapse of a predetermined time, the traveling route is recalculated and a new traveling schedule is created again. Even if the CS mode is planned, the vehicle 100 continues to drive to the CD mode when the distance to the CD section existing after the section is less than a certain distance. This avoids control hunting due to mode switching when the distance to the CD section existing after the section including the first section of the redesigned travel plan is less than a certain distance.

(Other Embodiments)

The above-described embodiments may be carried out in the following modified forms as appropriate.

In the second embodiment, the mode control unit 152 calculates the elapsed time from the return or recalculation in step S4 shown in Fig. 6 and determines whether or not the elapsed time is equal to or longer than the predetermined time in step S5 of Fig. 6 . Instead, as shown in Fig. 16, the mode control unit 152 calculates the travel distance from the return or recalculation as a step S14, and similarly determines whether or not the travel distance is equal to or greater than a predetermined distance .

In the first to fourth embodiments, for the sake of convenience, the vehicle 100 deviating from the driving route is directly driven to the original driving route in the process of each step S3 in the flowcharts of Figs. 2, 6, 10, And the case where the traveling route is re-calculated after elapse of a predetermined time such as one minute, for example, after the vehicle departs from the traveling route, and the traveling plan is rewritten. However, In the case where the two determination processes are performed separately, for example, the process in the case where the vehicle 100 deviating from the traveling route of each of the second to fourth embodiments is directly returned to the original traveling route, The control of the vehicle combined with the processing in the case of recalculating the traveling route after the elapse of a predetermined time after the vehicle departs from the traveling route of the embodiment may be performed .

In each of the above embodiments, when the vehicle 100 is repeatedly released from the traveling route a predetermined number of times or more, the traveling mode of the vehicle 100 may be maintained in the CD mode and the driving schedule may be stopped. For example, as shown in Fig. 17, a process for determining whether or not the deviation of the path is greater than or equal to the predetermined number of times is added between steps S2 and S3 in each of the above-described embodiments. That is, when the mode control unit 152 determines that the path deviation is greater than or equal to the predetermined number of times (Step S21: Yes), the mode control unit 152 stops generating the driving plan of the mode by the mode planning unit 151 while maintaining the CD mode (Step S22). Alternatively, when the recalculation of the traveling route is repeated a predetermined number of times or more, the mode in which the vehicle 100 travels may be maintained in the CD mode and the preparation of the traveling schedule may be stopped. 18, when the number of times of recalculation of the traveling route is repeated a predetermined number of times or more (step S23: Yes), the traveling mode of the vehicle 100 is maintained in the CD mode, The creation of the plan is stopped (step S22). As a result, in this case, even when the travel plan is not created, the CD mode is used first, and therefore, the situation in which the remaining portion used for the charge amount of the battery 113 is generated is also easily avoided.

In each of the above embodiments, the mode control unit 152 controls the mode and the travel to be one-to-one (one-to-one) so as to cause the vehicle 100 to run on EV when controlled in the CD mode and HV .

In the above embodiment, the case where the in-vehicle network NW is a CAN is exemplified. However, the present invention is not limited to this. The vehicle-mounted network NW may be an Ethernet (registered trademark), a FlexRay (registered trademark), an IEEE1394 (Fire Wire Trademark)) or other network. It is also possible to include CAN, and these networks may be configured in combination.

In the above embodiment, the position detecting section 101 is connected to the navigation control device 121 via the vehicle-mounted network NW, but the position detecting section 101 may be directly connected to the navigation control device 121. [

In the above embodiment, the case where the navigation system 120 and the travel support unit 150 have a separate structure is exemplified. However, the present invention is not limited to this, and the navigation system and the travel support unit may be installed in the same apparatus.

In the above embodiment, the case where the hybrid control apparatus 110 and the travel support unit 150 are installed in the same apparatus is exemplified. However, the present invention is not limited to this, and the hybrid control device and the traveling support section may be installed in separate devices.

In the above embodiment, the case where each of the devices such as the navigation system 120 and the display device 125 is provided integrally with the vehicle 100 is exemplified. However, the present invention is not limited to this, and each device such as a navigation system and a display device may use portable information processing devices such as a cellular phone or a smart phone as all or a part of such functions as long as they are communicably connected to each other.

In the above embodiment, the case where the driving support unit 150, the navigation system 120, the map information database 122, and the like are mounted on the vehicle 100 is exemplified. However, the present invention is not limited to this, and some functions such as a driving support unit, a navigation system, and a map information database may be provided in an information processing apparatus outside the car, or may be installed in a portable information processing apparatus. Examples of the information processing apparatus on the outside of the car include an information processing center, and portable information processing apparatuses include a cellular phone and a smart phone. If the information processing apparatus is outside the car, the information may be received through a wireless communication line or the like. The portable information processing apparatus may be connected to a vehicle-mounted network, connected by short-range communication, or may receive information via a wireless communication line.

In the above embodiment, the case where the travel support unit 150 is assigned the travel mode is exemplified. However, the present invention is not limited to this, and the navigation mode may be assigned to the navigation control device or the like.

In the above embodiment, the case where the assignment of the traveling mode is mainly executed when the vehicle 100 is at the current position is exemplified. However, the allocation of the traveling mode is not limited to the one in which the vehicle is moving to the destination Or may be executed as a departure point. The execution mode at any point can also be appropriately allocated to the entire section of the traveling route.

In each of the above-described embodiments, the vehicle 100 is a plug-in hybrid vehicle. However, the present invention is not limited to this, and a hybrid vehicle having an increased electric storage capacity may be used. It can be applied to the travel plan when the storage amount is reduced to the reference value.

Claims (11)

1. A vehicle control apparatus for controlling the running of a vehicle, wherein the vehicle selects one of a first mode and a second mode as a running mode, the vehicle of the first mode runs by consuming power of the battery, The vehicle of the second mode travels so as to maintain the storage capacity of the battery, the traveling route from the starting point to the destination includes a plurality of sections, and the vehicle control apparatus includes:
A traveling plan unit configured to create a traveling plan for assigning either the first mode or the second mode to each section included in the traveling route;
And a control unit configured to control the running of the subject vehicle based on the prepared travel plan,
Wherein the control unit is configured to set the traveling mode of the subject vehicle to the first mode when the subject vehicle leaves the traveling path in which the traveling plan is created. The method according to claim 1,
When the vehicle is returned to the traveling path after the vehicle has departed from the traveling path in which the traveling plan is created,
Wherein the control unit is configured to maintain the traveling mode of the subject vehicle in the first mode by a predetermined time or by a predetermined distance regardless of the prepared travel plan. The method according to claim 1,
When the vehicle is returned to the traveling path after the vehicle has departed from the traveling path in which the traveling plan is created,
Wherein the control unit is configured to maintain the traveling mode of the subject vehicle in the first mode with respect to the first section of the traveling path after the return, regardless of the prepared traveling schedule. The method according to claim 1,
When the vehicle is returned to the traveling route after the vehicle has departed from the traveling route in which the traveling plan is created, the first section of the traveling route after the return is planned in the second mode, and the first time of the traveling route after the return When the distance to the section planned for the first mode after the section of the first mode is less than a predetermined distance,
Wherein the control unit is configured to maintain the running mode of the subject vehicle in the first mode, at least until a period initially planned for the first mode after the first period of the traveling path after the return. 5. The method according to any one of claims 1 to 4,
Wherein the travel planning unit is configured to re-calculate the travel route and re-create a new travel schedule when a predetermined time elapses after the vehicle has departed from the travel route in which the travel schedule has been created,
When the vehicle is out of the traveling path and the traveling path is recalculated, the control unit sets the mode in which the vehicle travels for a predetermined time or a predetermined distance to the first mode regardless of the re- The vehicle control apparatus comprising: 5. The method according to any one of claims 1 to 4,
Wherein the travel planning unit is configured to re-calculate the travel route and re-create a new travel schedule when a predetermined time elapses after the vehicle has departed from the travel route in which the travel schedule has been created,
When the vehicle is out of the traveling path and the traveling path is recalculated, the control unit sets the traveling mode of the vehicle to the first interval of the first traveling path after the recalculation, regardless of the rewritten traveling plan, Mode. ≪ / RTI > 5. The method according to any one of claims 1 to 4,
Wherein the travel planning unit is configured to re-calculate the travel route and re-create a new travel schedule when a predetermined time elapses after the vehicle has departed from the travel route in which the travel schedule has been created,
The first section of the travel route after the recalculation is the section planned in the second mode when the vehicle is out of the travel route and the travel route is re-calculated, and the first time after the first section of the travel route after the re- 1 mode is less than a predetermined distance, the control unit sets the traveling mode of the subject vehicle to the first mode for the first time after the first interval of the traveling path after the re-calculation, Mode. ≪ / RTI > 6. The method of claim 5,
When the path of the subject vehicle deviates, or when the recalculation is repeated a predetermined number of times or more,
Wherein the control unit is configured to maintain the mode in which the subject vehicle travels in the first mode,
And the travel plan unit is configured to stop the creation of the travel plan. A vehicle control apparatus for controlling a running of a vehicle, wherein the vehicle selects either the first mode or the second mode as a running mode, and the vehicle of the first mode actively consumes the electric power charged in the battery The vehicle of the second mode drives at least one of the internal combustion engine and the motor so as to maintain the electric storage capacity of the battery, , Wherein the vehicle control apparatus includes:
A traveling plan unit for preparing a traveling plan for assigning any one of the first mode and the second mode as a traveling mode to each section included in the traveling route,
And a control unit for controlling the running of the subject vehicle on the basis of the created travel plan,
Wherein the control unit is configured to forcibly set the traveling mode of the subject vehicle to the first mode when the subject vehicle leaves the traveling path in which the traveling plan is created. A method for performing a running control of a vehicle by a vehicle control device,
Selecting either the first mode or the second mode in which the vehicle travels as the driving mode;
The vehicle of the first mode traveling consumes electric power of the battery;
The vehicle of the second mode that is traveling maintains the storage capacity of the battery;
Driving by the vehicle a traveling path from a start point to a destination including a plurality of intervals;
Creating a travel plan for assigning any one of the first mode and the second mode to each section included in the traveling route;
Controlling the running of the subject vehicle based on the prepared travel plan;
And setting the traveling mode of the subject vehicle to the first mode when the subject vehicle leaves the traveling path in which the traveling plan is created. A method for performing a running control of a vehicle by a vehicle control device,
Selecting either the first mode or the second mode in which the vehicle travels as the driving mode;
Prioritizing driving of the motor of the vehicle traveling in the first mode while suppressing or inhibiting driving of the internal combustion engine so as to actively consume power charged in the battery;
Driving at least one of the internal combustion engine and the motor of the vehicle traveling in the second mode so as to maintain the electric storage capacity of the battery;
The vehicle traveling on a travel route from a start point to a destination including a plurality of intervals;
Creating a travel plan for assigning any one of the first mode and the second mode as a travel mode to each section included in the travel route;
Controlling the running of the subject vehicle based on the prepared travel plan;
And forcing the traveling mode of the subject vehicle to the first mode when the subject vehicle leaves the traveling route in which the traveling plan is created.

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